초록 ▼

The present invention is particularly efficacious when practiced as a system for transferring payloads between sideways-adjacent vessels at sea. As typically embodied, an inventive inter-locational transfer system includes: a trolley; a set of parallel cable-rails upon and along which the trolley is

The present invention is particularly efficacious when practiced as a system for transferring payloads between sideways-adjacent vessels at sea. As typically embodied, an inventive inter-locational transfer system includes: a trolley; a set of parallel cable-rails upon and along which the trolley is rollable; a pair of pulling cables, respectively connected to the two sideways-adjacent ships, for exerting pulling forces on the trolley in opposite directions along the cable-rails; at least four hoisting cables, separately and distantly attached at the bottom of the trolley and at peripheral points of the payload, for suspending a rectangular payload (e.g., ISO container with contents) from the trolley; a first computer control capability; for controlling the impelling and restraining of the trolley by the respective pulling cables; and, a second computer control capability, for controlling the lengthening and shortening of the respective hoisting cables in a coordinated manner to reduce or minimize payload pendulation.

대표청구항 ▼

1. Cargo conveyance apparatus comprising: a track including at least two generally parallel tensioned flexible lines, said track characterized by a length, two opposite track ends, and two opposite longitudinal directions, said opposite track ends being a first track end and a second track end, said

1. Cargo conveyance apparatus comprising: a track including at least two generally parallel tensioned flexible lines, said track characterized by a length, two opposite track ends, and two opposite longitudinal directions, said opposite track ends being a first track end and a second track end, said opposite longitudinal directions being a positive longitudinal direction and a negative longitudinal direction; said positive longitudinal direction being toward said first track end, said negative longitudinal direction being toward said second track end;a vehicle having a vehicular body and at least four wheels, said vehicular body characterized by a first vehicular end, a second vehicular end, an approximately rectangular plan shape and four vehicular corners, said four vehicular corners corresponding to said approximately rectangular plan shape, said at least four wheels arranged so as to include at least two axial pairs of said wheels, a first said wheel situated at a first said vehicular corner, a second said wheel situated at a second said vehicular corner, a third said wheel situated at a third said vehicular corner, a fourth said wheel situated at a fourth said vehicular corner, the first said wheel and the second said wheel being axially paired, the third said wheel and the fourth said wheel being axially paired, the first said wheel and the third said wheel each engaging a first said line, the second said wheel and the fourth said wheel each engaging a second said line, said vehicle being movable via said at least four wheels along and atop said track in said positive longitudinal direction and said negative longitudinal direction;a pair of vehicle winching mechanisms, for regulating said motion of said vehicle along and atop said track in said positive longitudinal direction and said negative longitudinal direction, a first said vehicle winching mechanism being situated at said first track end, a second said vehicle winching mechanism being situated at said second track end, each said vehicle winching mechanism including a hauling cable, a first said hauling cable being included in said first vehicle winching mechanism and connected to said vehicular body at said first vehicular end, a second said hauling cable being included in said second vehicle winching mechanism and being connected to said vehicular body at said second vehicular end;a payload container, for containing payload contents, said payload container characterized by four container corners and an approximately rectangular-prismatic shape;four payload winching mechanisms, for regulating the pendulation of a payload suspended from said vehicle, said payload including said payload container and any said payload contents, each said payload winching mechanism including a hoisting cable, said hoisting cables connected to said vehicular body at said four vehicular corners and connected to said payload container at said four container corners;a computer for controlling said payload winching mechanisms, said computer being configured to execute pendulation-control computer program logic that, when executed, is capable of controlling said pendulation of said container, wherein according to said pendulation-control computer program logic the combination including said vehicle, said payload winching mechanisms, and said payload essentially constitutes an inverted Stewart platform and said payload container essentially constitutes a rigid body, said payload suspended from said vehicle via said payload winching mechanisms, said computer implementing a differential between the respective tensions of said hoisting cables and independently controlling the respective said tensions of said hoisting cables so as to move said payload in any of six degrees of freedom and thereby change the position, or orientation, or both position and orientation, of said payload, wherein effectuation of said inverted Stewart platform is furthered by said approximately rectangular plan shape of said vehicle, said approximately rectangular-prismatic shape of said payload container, and the respective connections of said hoisting cables at said four vehicular corners and said four container corners. 2. The cargo conveyance apparatus of claim 1 wherein: said first track end is situated onboard a first marine vessel;said second track end is situated onboard a second marine vessel. 3. The cargo conveyance apparatus of claim 1 further comprising a computer for controlling said vehicle winching mechanisms, said computer being configured to execute vehicle-movement computer program logic that, when executed, is capable of causing said vehicle to move in said positive longitudinal direction or said negative longitudinal direction, wherein according to said vehicle-movement computer program logic said vehicle winching mechanisms are capable of operating in tandem whereby one said vehicle winching mechanism impels said vehicle while the other said vehicle winching mechanism restrains said vehicle. 4. A transport system suitable for use between ships at sea, the transport system comprising: two generally parallel tensioned flexible highline cables extending between a first location and a second location, said highline cables being a left highline cable and a right highline cable;a trolley situated upon and movable along said highline cables, said trolley having a trolley body, a left front wheel, a right front wheel, a left back wheel, a right back wheel, a front trolley end, and a back trolley end, said trolley body characterized by an approximately rectangular plan profile and four trolley corners corresponding to said approximately rectangular plan profile, said left front wheel situated at the left front said trolley corner, said left back wheel situated at the left back said trolley corner, said right front wheel situated at the right front said trolley corner, said right back wheel situated at the right back said trolley corner, said left front wheel and said right front wheel being coaxially joined, said left back wheel and said right back wheel being coaxially joined, said left front wheel and said left back wheel each rotatably engaging said left highline cable, said right front wheel and said right back wheel each rotatably engaging said right highline cable;four payload-hoist winches, said payload-hoist winches being a left front payload-hoist winch situated at the left front said trolley corner, a left back payload-hoist winch situated at the left back said trolley corner, a right front payload-hoist winch situated at the right front said trolley corner, and a right back payload-hoist winch situated at the right back said trolley corner;a payload container characterized by a box-like shape and four container corners;four payload-hoist cables respectively associated with said payload-hoist winches and respectively connected to said payload container at said container corners, a left front said payload-hoist cable associated with said left front hoisting winch and connected at the left front said container corner, a left back said payload-hoist cable associated with said left back payload-hoist winch and connected at the left back said container corner, a right front said payload-hoist cable associated with said right front said payload-hoist winch and connected at the right front said container corner, a right back said payload-hoist cable associated with said right back said payload-hoist winch and connected at the right back said container corner;a computer communicating with said payload-hoist winches and configured to execute payload-pendulation control computer program logic including implementation of a differential between the respective said tensions of said payload-hoist cables and including independent change of each of the respective tensions of said payload-hoist cables, thereby effecting continual six-degrees-of-freedom adjustment of at least one of the position and orientation of said payload container, said payload-pendulation control computer program logic being based on an inverted Stewart platform model describing suspension, via said payload-host cables, of said payload container from said trolley body wherein said payload container represents a rigid body, wherein implementation of said inverted Stewart platform is facilitated by said approximately rectangular plan profile of said trolley, said box-like shape of said payload container, and the respective connections of said payload-hoist cables at said four trolley corners and said four container corners;two trolley-movement winches respectively situated at said first location and said second location;two trolley-movement cables respectively associated with said trolley-movement winches and respectively connected at said front trolley end and said back trolley end, wherein each said trolley-movement winch, together with its associated trolley-movement cable, is capable of exerting a pulling force on said trolley so as to impel said trolley along said highline cables. 5. The transport system of claim 4 wherein said trolley-movement winches, together with their respectively associated trolley-movement cables, cooperatively act to propel said trolley along said highline cables, the transport system further comprising a computer communicating with said trolley-movement winches and configured to execute trolley-movement control computer program logic whereby said trolley is controllably moved along said highline cables, wherein according to said trolley-movement control computer program logic: if the pulling force exerted by said trolley-movement winch situated at said second location is substantially in the nature of a motivating force, then the pulling force exerted by said trolley-movement winch situated at said first location is substantially in the nature of a restraining force;if the pulling force exerted by said trolley-movement winch situated at said first location is substantially in the nature of a motivating force, then the pulling force exerted by said trolley-movement winch situated at said second location is substantially in the nature of a restraining force;said trolley-movement winches, together with their respectively associated trolley-movement cables, cooperatively act to propel said trolley either toward said second location or toward said first location. 6. The transport system of claim 5 wherein said first location is on a first ship, and said second location is on a second ship. 7. The transport system of claim 4 wherein said first location is on a first ship, and said second location is on a second ship. 8. The transport system of claim 7 wherein said trolley-movement winches, together with their respectively associated trolley-movement cables, cooperatively act to propel said trolley along said highline cables, the transport system further comprising a computer communicating with said trolley-control winches and configured to execute trolley-movement control computer program logic whereby said trolley is controllably moved along said highline cables, wherein according to said trolley-movement control computer program logic: the pulling force exerted by said trolley-movement winch situated at said first location is substantially in the nature of a restraining force;the pulling force exerted by said trolley-movement winch situated at said second location is substantially in the nature of a motivating force;said trolley-movement winches, together with their respectively associated trolley-movement cables, cooperatively act to propel said trolley away from said first location and toward said second location. 9. The transport system of claim 4 wherein: said highline cables are a first left highline cable and a first right highline cable;two additional generally parallel tensioned flexible highline cables extend between said first location and said second location, said two additional generally parallel tensioned flexible highline cables being a second left highline cable and a second right highline cable;said left front wheel is a first left front wheel;said right front wheel is a first right front wheel;said left back wheel is a first left back wheel;said right back wheel is a first right back wheel;said trolley additionally has a second left front wheel, a second right front wheel, a second left back wheel, and a second right back wheel;said first left front wheel and said first left back wheel each rotatably engage said first left highline cable;said first right front wheel and said first right back wheel each rotatably engage said first right highline cable;said second left front wheel and said second left back wheel each rotatably engage said second left highline cable;said second right front wheel and said second right back wheel each rotatably engage said second right highline cable. 10. The transport system of claim 4 wherein two additional hoisting cables are connected to said trolley body, and wherein neither of said additional hoisting cables is connected to said trolley body at a said trolley corner. 11. The transport system of claim 8 wherein: said highline cables are a first left highline cable and a first right highline cable;two additional generally parallel tensioned flexible highline cables extend between said first location and said second location, said two additional generally parallel tensioned flexible highline cables being a second left highline cable and a second right highline cable;said left front wheel is a first left front wheel;said right front wheel is a first right front wheel;said left back wheel is a first left back wheel;said right back wheel is a first right back wheel;said trolley additionally has a second left front wheel, a second right front wheel, a second left back wheel, and a second right back wheel;said first left front wheel and said first left back wheel each rotatably engage said first left highline cable;said first right front wheel and said first right back wheel each rotatably engage said first right highline cable;said second left front wheel and said second left back wheel each rotatably engage said second left highline cable;said second right front wheel and said second right back wheel each rotatably engage said second right highline cable. 12. The cargo conveyance apparatus of claim 1 wherein: said track includes at least three said generally parallel tensioned flexible lines, wherein two said generally parallel tensioned lines are lateral lines and at least one said generally parallel tensioned flexible line is an intermediate said line;said vehicle has at least five said wheels;at least one said wheel engages at least one said intermediate line. 13. The cargo conveyance apparatus of claim 1 wherein: said vehicle has at least a third said axial pair of said wheels;the at least said third axial pair of said wheels includes at least a fifth said wheel and at least a sixth said wheel;the at least said fifth said wheel engages the first said line;the at least a sixth said wheel engages the second said line. 14. The cargo conveyance apparatus of claim 1 wherein: said track includes a third said generally parallel tensioned flexible line and a fourth said generally parallel tensioned flexible line;said vehicle has at least a third said axial pair of said wheels;the at least said third axial pair of said wheels includes at least a fifth said wheel and at least a sixth said wheel;the at least said fifth wheel engages the third said line;the at least said sixth wheel engages the fourth said line. 15. A system for transporting cargo, the system comprising: a trolley track including two parallel flexible cables respectively connected at opposite ends to two separate structures, said structures being a first said structure and a second said structure;a trolley having two trolley ends, four trolley corners, and four wheels respectively situated at said trolley corners, said wheels engaging said trolley track so that said trolley is capable of riding upon said trolley track toward the first said structure or the second said structure;a cargo container having four container corners;two trolley-hauling devices each including a hauling winch and a hauling cable associated with said hauling winch, a first said hauling winch coupled with the first said structure, a second said hauling winch coupled with the second said structure, said hauling cables respectively attached to said trolley at said trolley ends, said trolley-hauling devices being capable of moving said trolley toward either the first said structure or the second said structure;four payload-hoisting devices each including a hoisting winch and a hoisting cable associated with said hoisting winch, said hoisting winches respectively situated at said four trolley corners, said hoisting cables respectively attached to said cargo container at said container corners;a computer communicating with said payload-hoisting devices and configured to execute computer program logic for effecting stabilization control of said cargo container either with or without cargo contained therein, said stabilization control being characterized by an inverted Stewart platform system according to which said cargo container: is suspended from said trolley by said hoisting cables; represents a rigid body; and is repositioned and/or reoriented in six degrees of freedom based on a differential between the respective tensions of said hoisting cables and through adjustment of at least one of the respective said tensions of said hoisting cables. 16. The system for transporting cargo of claim 15, wherein said stabilization representing an inverted Stewart platform system is facilitated by the respective situations of said hoisting winches at said trolley corners and the respective attachments of said hoisting cables at said container corners. 17. The system for transporting cargo of claim 15, wherein said structures are marine vessels. 18. The system for transporting cargo of claim 17, wherein said stabilization representing an inverted Stewart platform system is facilitated by the respective situations of said hoisting winches at said trolley corners and the respective attachments of said hoisting cables at said container corners. 19. The system for transporting cargo of claim 15, further comprising a computer communicating with said trolley-hauling devices and configured to execute computer program logic for controlling said movement of said trolley toward either the first said structure or the second said structure, said control of said movement of said trolley including coordination of tugging forces respectively exerted by said trolley-hauling devices. 20. The system for transporting cargo of claim 19, wherein said structures are marine vessels, and wherein said stabilization representing an inverted Stewart platform system is facilitated by the respective situations of said hoisting winches at said trolley corners and the respective attachments of said hoisting cables at said container corners.